implemented INS

src/kernel/gps/GPS.hx

@@ -23,6 +23,8 @@ class GPS {
 	private var cachedPosition:Pos3;
 	private var lastPositionResponse: Array<{pos:Pos3,dist:Float}> = [];
 
+	private var futureResolve: (pos:Null<Pos3>) -> Void = null;
+
 	@:allow(kernel.Init)
 	private function new() {
 		this.loadCachedPosition();
@@ -39,6 +41,12 @@ class GPS {
 		}
 	}
 
+	@:allow(kernel.gps.INS)
+	private function setINSPosition(pos:Pos3) {
+		cachedPosition = pos;
+		posAccuracy = 1;
+	}
+
 	public function getPosition():Null<Pos3> {
 		return cachedPosition;
 	}
@@ -52,8 +60,18 @@ class GPS {
 		posAccuracy = 0;
 	}
 
-	public function locate() {
-		sendPositionRequest();
+	public function locate():Future<Null<Pos3>> {
+		// TODO: implenet a timeout
+		// TODO: dont send a request twice if the last one is still pending or we moved
+		return new Future<Null<Pos3>>((resolve)->{
+			this.futureResolve = resolve;
+			sendPositionRequest();
+			return null;
+		});
+	}
+
+	private function resolveFuture(pos:Null<Pos3>) {
+		this.futureResolve(pos);
 	}
 
 	private function persistCachedPositon() {
@@ -124,13 +142,19 @@ class GPS {
 
 				if (lastPositionResponse.length < 4) return; // We need at least 3 responses to calculate the position
 
-				var calculatedPosition = calculatePosition().round();
+				var calculatedPosition = calculatePosition();
+
+				if (calculatedPosition != null){
+					calculatedPosition = calculatedPosition.round();
+				}
 
 				lastPositionResponse = []; // Reset the response array
 
 				if (calculatedPosition == null) return;
 				cachedPosition = calculatedPosition;
 				posAccuracy = 3;
+
+				resolveFuture(calculatedPosition);
 			default:
 		}
 	}